5 January 1989 Spatial Mapping System For Autonomous Underwater Vehicles
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Proceedings Volume 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation; (1989) https://doi.org/10.1117/12.948959
Event: 1988 Cambridge Symposium on Advances in Intelligent Robotics Systems, 1988, Boston, MA, United States
As part of the Multiple Autonomous Underwater Vehicle (MAUV) project at the National Bureau of Standards, a spatial mapping system has been developed to provide a model of the underwater environment suitable for autonomous navigation. The system is composed of multi-resolution depth maps designed to integrate sensor data with an a priori model, an object/attribute database for storing information about detected objects, and a set of flags to monitor abnormal or emergency conditions in the environment. This paper describes the struc-ture of the mapping system and the algorithms used to map terrain and obstacles detected by acoustic sonar.
© (1989) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
David N. Oskard, Tsai-Hong Hong, Clifford A. Shaffer, "Spatial Mapping System For Autonomous Underwater Vehicles", Proc. SPIE 1003, Sensor Fusion: Spatial Reasoning and Scene Interpretation, (5 January 1989); doi: 10.1117/12.948959; https://doi.org/10.1117/12.948959


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